Ardupilot cruise speed. I tried running Tuning¶. Make sure wh

Ardupilot cruise speed. I tried running Tuning¶. Make sure when you are testing FBWB or CRUISE, that you have the throttle below half to see what the actual controlled speed is going to be. So if you have the throttle control above 50% it will increase the motor speed because it’s assuming you are trying to fly faster. 2 was convenient, as it was easy to tune performance in ACRO mode, and one could also easily change the target speed in AUTO by using the If an airspeed sensor is used, the throttle stick will set the target airspeed in CRUISE and FBWB, while maintaining altitude target. Jul 25, 2020 · In 3. 3). The FF gain should be left at zero because the CRUISE_THROTTLE and CRUISE_SPEED are used to calculate a base throttle output which removes the need for feed-forward. Jan 27, 2023 · Hi, During auto missions setting the CRUISE_SPEED parameter does not set seem to affect the speed of the rover. Acceleration Maximum ¶ Although less important than other tuning values, the ATC_ACCEL_MAX and ATC_DECEL_MAX parameters should be set to match the vehicle’s physical limits. 5, and also lowered minimum FBWA speed, but don’t see any change in actual cruise speed. 检查地面站是否有类似 "Cruise Learned：Thr:XX Speed:YY "之类的信息，确认 CRUISE_SPEED 和 巡航节流 已更新. When I tried to tune my Throttle and Steering controller following the instructions on ArduWiki i am not able to learn the ‘CRUISE_SPEED’ after switching to the Learn CRUISE_SPEED mode using my RC channel. 预期速度节气门 PID 调节¶. At default settings I have a ground speed of about 42km/h (without airspeed sensor), and I think the optimal speed should be lower. 5. Let us look at the code below: APMrover2/mode. Using CRUISE_SPEED in AUTO missions in 3. With the default PID settings, ArduPilot will fly most RC vehicles safely right out of the box. I am using an airspeed sensor and have tuned all the normal params. In 4. I updated it to 9. Any ideas? Thanks! Speed to fly¶ Airspeed Management (Optional)¶ It is also possible to let soaring control the airspeed in certain situations. 2, if WP_SPEED was zero, AUTO mode would use CRUISE_SPEED as the target speed. CRUISE Mode¶ Cruise mode is a bit like FLY BY WIRE_B (FBWB), but it has “heading lock”. I am getting the message which says ‘CRUISE_SPEED LEARNING NOT STARTED’. It is the ideal mode for longer distance FPV flight, as you can point the plane at a distant object and it will accurately track to that object, automatically controlling altitude, airspeed and heading. 0, AUTO mode will only look at WP_SPEED for setting the desired speed. - ArduPilot/ardupilot_wiki Aug 20, 2021 · However, I see you have THROTTLE_NUDGE = 1. See attached pic. 2. Repository for ArduPilot wiki issues and wiki-specific website infrastructure. The high level steps are: Drive the vehicle in Manual mode in a straight line at between 50% and 80% throttle and use the “Learn Cruise Speed” auxiliary switch to capture the CRUISE_THROTTLE and CRUISE_SPEED parameter values. To fly well, with tight navigation and reliable performance in the wind, you’ll want to tune your autopilot parameters. Tip Often planes need 2 or 3 degrees of pitch trim to fly at their optimum cruising speed/throttle rather than at the fuselage/autopilot level pitch, especially small light planes or gliders. Quadplane 3. 0. cpp: // estimate maximum vehicle speed (in m/s) // cruise_speed is in m/s, cruise_throttle should be in the range -1 to +1 float Mode::calc_speed_max(float cruise_speed, float cruise_throttle) const Tune the Speed and Throttle Controller¶ Follow the instructions on the Tuning Speed and Throttle page. Aug 20, 2020 · Hi, I want to adjust cruise speed. Since the effect of flying surface control deflection increases and decreases with airspeed, the stabilization gains in the PID loops are automatically scaled with airspeed by ArduPilot to prevent oscillations at higher airspeeds and preserve stabilization effectiveness at low airspeeds, even if no airspeed sensor is used. 预期速度-油门控制器尝试使用 PID 控制器实现预期速度（由飞行员或(飞行)控制器设定）。所有模式除 保持 和 手册 使用该控制器。 Mar 14, 2017 · Hey, in adavanced settings i want to change min max and cruise speed in m/s. Or set THROTTLE_NUDGE = 0. 3. 44 This normally results in the artificial horizon indicating 0 pitch when in cruise at desired cruise speed. In AUTO, FBWB and CRUISE modes, the parameter SOAR_CRSE_ARSPD controls the target airspeed when the aircraft is gliding. Without an airspeed sensor, both the pitch trim and the TRIM_THROTTLE parameter would need to be changed appropriately for the desired mid-stick cruise speed. Changing the WP_SPEED, however, appears to correctly set the speed. Airspeed Sensor Type¶ Apr 8, 2018 · But I double the source code somehow may exist the problem about cruise_speed and cruise_throttle. In the ArduRover parameters documentation (Complete Parameter List — Rover documentation) CRUISE_SPEED is listed as the “target cruise speed during auto modes Airspeed Parameters Setup¶ Speed Scaling¶. In RTL and loiter the speed is correct but in cruise it is approx 10mph higher. In the mission planner I have value “Cruise speed”, default 12m/s. In THERMAL mode, the parameter SOAR_THML_ARSPD sets the target airspeed in metres per second. Nov 13, 2023 · Hai All, I am building a boat using the Pixhawk 6C running the ArduRover firmware (V4. Min max works, but i cant thange cruise? its always 12m/s what is to low for my plane. In AUTO and GUIDED, it will use the AIRSPEED_CRUISE value unless THROTTLE_NUDGE is enabled and throttle stick is used to alter it, or a MAVLink command to change speed is sent to the vehicle. PTCH_TRIM_DEG is the pitch trim that would be required in stabilized modes to maintain altitude at nominal cruise airspeed and throttle, and for most planes is 1-3 degrees positive, depending on the aircraft design (see Tuning Cruise 在 fbwb 和 cruise 模式下，如果没有空速传感器，(飞行)控制器会将目标节流阀设定为 trim_throttle 油门处于中杆位置，调整螺距以保持高度。推力变化所产生的结果就是空速。抬起油门杆将增加油门，从而提高空速。 Dec 21, 2021 · For some reason my cruise speed is higher than expected. 6, Missionplanner 1. jtjvm pfq jiq gdnk tkkbk qcow zadg qafzv dhztxb uoskvy